From 701ed49b786d2504ee5ebeb6b3c5c5cc5c09cf4b Mon Sep 17 00:00:00 2001 From: Mikhail Grushinskiy Date: Sun, 22 Sep 2024 16:40:07 -0400 Subject: [PATCH] Update KalmanForWave.h --- bbn_wave_freq_m5atomS3/KalmanForWave.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/bbn_wave_freq_m5atomS3/KalmanForWave.h b/bbn_wave_freq_m5atomS3/KalmanForWave.h index 83aa685..ea74679 100644 --- a/bbn_wave_freq_m5atomS3/KalmanForWave.h +++ b/bbn_wave_freq_m5atomS3/KalmanForWave.h @@ -132,10 +132,10 @@ void kalman_wave_init_state(KalmanWaveState* state) { // [KALMAN_NUM_STATES * 1] matrix_t *x = kalman_get_state_vector(kf); - x->data[1] = state->displacement_integral; // displacement integral - x->data[2] = state->heave; // vertical displacement - x->data[3] = state->vert_speed; // vertical velocity - x->data[4] = state->accel_bias; // accel bias + x->data[0] = state->displacement_integral; // displacement integral + x->data[1] = state->heave; // vertical displacement + x->data[2] = state->vert_speed; // vertical velocity + x->data[3] = state->accel_bias; // accel bias } void kalman_wave_init_defaults() {